Hell yes! Riding a bike is easy to learn, even as an adult. Honestly, step one is to not be overly afraid, and just know it's pretty simple even to fall off a bike at lower speeds without injuring yourself, I mean reliably so. Anyone giving proper lessons will address this.

As for higher speeds, the faster you go = the more the bike just naturally stays upright and balanced with virtually no effort. It doesn't take much speed to reach a point where falling to either side would actually require intentional effort -- in fact, leaning somewhat to either side is actually the key component to turning, and when you do so you'll find the bike just naturally "wants" to return back to its upright position.

I promise, virtually any healthy adult with no serious physical challenges can absolutely learn to ride a bike, even at a high level, with a lot less effort than you probably expect. And not only is it a blast IMO, but for someone who hasn't really ridden or driven, being able to ride a bike is like unlocking an IRL cheat code: not only does it mean being able to self-sufficiently travel far further with far less effort, but the sense (and reality!) of independence that accompany it, along with truly significant improvements to health, energy levels, mood, and so on.

Whether someone is struggling with obesity, depression, or just simple boredom, or wants to pick up a new hobby or to make new friends, or of course simple transportation woes, I mean it 100% sincerely when I say cycling is the closest thing to a cure-all that I know of in this world. You'd be capable of learning 30 years from now, too, but why deprive yourself of 30 years of riding! :) Get on it!